TWI644821B - Vehicle track assembly having tapered wheels - Google Patents

Abstract

A carrier crawler module has a frame, the module can be mounted on a rotatable wheel axle of a carrier, and has a driving wheel rotatably mounted on the frame The leading and trailing idler gears rotatably mounted on the frame, at least one bearing wheel in contact with the track and disposed between the idler gears, and extending around the wheel One continuous elastic track, and the at least one bearing wheel is a cylindrical wheel with a tapered elastomer tire surrounding it. The track module may include a central plane of the module parallel to the driving wheel, and the bearing wheel may be thicker toward the central plane. A crawler assembly for a vehicle includes a frame and a plurality of wheels, the frame is used to be installed relative to the vehicle, the wheels and a continuous elastic crawler extending around the wheels In contact, at least one of the wheels is cylindrical and includes a tapered elastomer tire.

Description

Carrier crawler assembly with tapered wheel

The technical field of the present case relates generally to crawler assemblies for vehicles with crawlers and, more particularly, to crawler assemblies used on arched roads. In this type of track assembly, the improved wheel structure extends the track load distribution toward the center of a track assembly, thereby reducing the wear of the track and the wheel.

For example, agricultural vehicles of traction machines, combined and the like are usually used in the agricultural field for various work, and structural vehicles and other large-scale work vehicles are used on many ground surfaces for many Different jobs. Typically, these vehicles have large wheels with tires, and the vehicles on the wheels are supported on the ground. However, for improved traction, the carrier track module system, or more broadly, track assemblies are used to replace wheels with tires, and such track modules and track assemblies provide greater ground surface engagement area , It disperses the weight of the vehicle and tends to prevent the vehicle from sinking into the mud or other soft ground.

A track assembly for a vehicle typically includes a frame mounted relative to the vehicle, and a plurality of wheels contacting a continuous elastic track, the track extending around the plurality of wheels. More specifically, a crawler module, which is a type of crawler assembly for modularizing a carrier with a crawler, typically has an upper drive wheel that can be connected to a carrier axle and rotates with the axle Tools, a plurality of idlers and load wheels, and a circular elastic rubber A rubber crawler with a main inner surface and crawler ribs protruding inward from the inner surface. The crawler extends around the wheels and is driven by its engagement with the drive wheels. Such drive wheels may be large, and of course may have drive members that are spaced circumferentially to engage the track ribs.

In use, a large strain is placed on the mechanism of the crawler assembly, especially relative to the wheels, the elastic crawler surrounding the wheels, and the ribs on the crawler. In the case of a carrier with a track assembly driven on a substantially non-horizontal surface, the wear on the track is particularly noticeable, which is common in the structural and agricultural fields used. For example, on arched roads, most of the weight of the vehicle is not evenly distributed over the entire width of the track. On the contrary, according to the type of the arched road, the load of the vehicle may be mainly distributed toward the outer edge of the track, which of course is not desired, because this will cause premature track wear and shorten the track Service life.

The term "arched" describes the cross-sectional shape of a road surface, and the term "cross slope" describes a slope perpendicular to one of the road surfaces of the center line of the road. There are several types of arched roads. For example, a road may have a centerline arch, and in this type, the road slopes down and away from the center point of a road surface on both sides. A normal arched road has a small degree of cross slope, and people driving vehicles on this kind of road surface are usually not perceptible to this type of cross slope. However, the arched road may have a more pronounced horizontal slope. Such a road may look round in the center. In a round arched road, the center of the road may be flat. In this type, the road is inclined down and away from the flat part of the center of the road on both sides. Old rural roads, whether paved or unpaved, typically include some form of arch with a centerline. However, in some cases, especially on narrow roads, an arched road The road may be more inclined towards one side of the road than the other side. For example, a road may be inclined toward a road toward the lower slope side of a shoulder, or vice versa, a road may be inclined down or inclined toward a road toward an upper slope side of a shoulder.

The track modules and components seen in the conventional technology are not particularly suitable for roads with varying degrees of cross slopes, because the wheels themselves are generally on the track modules of such known vehicles. Not applicable, and therefore not adapted to the slope in the road. Some modules and components may attempt to compensate for the surface slope by including a rolling axis structure for the wheel mandrel. A rolling axis allows the wheels to move up and down about an axis that is generally parallel to the direction of the vehicle's movement in response to irregularities in a ground surface. Including a degree of rolling freedom for a wheel axle adds additional complexity and cost to the structure of the carrier track module. It also adds additional structures that are subject to wear and failure and require frequent maintenance, repair and replacement.

A solution to the aforementioned problem will be an important advancement in the related art. This solution still retains the advantages of track assembly technology, and it adapts to the variability in road surface cross slopes and reduces uneven track wear.

In a modification of a carrier track module of this type that includes a frame, where the module can be mounted on a rotatable axle of one of the carriers described herein. The track module has a driving wheel rotatably mounted on the frame, leading and trailing idler wheels rotatably mounted on the frame, and at least one bearing wheel, the bearing The wheel is arranged between the leading and trailing idler wheels, and is in contact with a continuous elastic track extending around the driving wheel, the idler wheels, and the at least one bearing wheel. An improvement is described herein, in which the at least one bearing wheel is a cylindrical wheel with a tapered elastomer tire surrounding it. The improvement The characteristics of the carrier track module overcome the aforementioned problems and shortcomings.

In describing the improved carrier track module, the term "cone" used in various forms refers to a feature of at least one wheel of the track module, the wheel having one side facing the other A thicker peripheral surface on the side. The term "tire" used throughout the text does not impose any material restrictions on the tapered tire, but the tapered tire can be made from a variety of suitable materials, including, for example, steel, aluminum, rubber, polyurethane, and the like Combination of rubber materials, nylon and other materials. The term "elastomer" refers to any natural or synthetic substance that has elasticity, such as rubber, nylon, polypropylene, polyethylene, polyamide, polyester, polycarbonate, and poly-anhydride and has acceptable Other material combinations of appropriate properties. It should also be noted that the term "elastic track" as used herein means a track made of any material that can be flexed, including but not limited to natural rubber, synthetic rubber, or rubber-like material. The term "cylindrical wheel" as used herein refers to a circular structure, the circumferential surface of the structure is cylindrical, but it may include a slight draft angle. The internal structure of such a wheel can include many different types of wheel structures.

In one aspect of the improved carrier track module, the module includes a module central plane parallel to the drive wheel, and the tapered tire of the carrier wheel is thicker toward the central plane. In another embodiment, only a portion of the circumferential surface of the elastomer tire is tapered. In yet another embodiment, the tapered elastomer tire carrying the wheel is a solid elastomer tire.

In some preferred embodiments, the carrier track module includes at least two load wheels, each of which is a cylindrical wheel with a tapered elastomer tire surrounding it. The track module may include a central plane of the module parallel to the driving wheels, and the tapered elastomer tires carrying the wheels are thicker toward the central plane. In another embodiment, only A part of the circumferential surface of the elastomer tires carrying the wheels is tapered. In yet another embodiment, the load-bearing wheels may each include a solid elastomer tapered tire.

In other preferred embodiments, each of the leading and trailing idler wheels may also be a cylindrical wheel with a tapered elastomer tire surrounding it. The module may include a central plane of the module parallel to the driving wheel, and the tapered elastomer tires of the leading and trailing idler wheels are thicker toward the central plane. In another embodiment, only a portion of the circumferential surface of the elastomer tire of the leading and trailing idlers is tapered. In yet another embodiment, the leading and trailing idler gears may include a solid elastomer tapered tire.

In some embodiments, the carrier track module further includes a high idler gear, which is a cylindrical wheel with an elastomer tire surrounding it. In a preferred embodiment, the high idler gear is a cylindrical gear with a tapered elastomer tire surrounding it. In this embodiment, the track module may include a central plane parallel to the module of the driving wheel, and the high idler wheel conical tire is thicker toward the central plane. In another embodiment, only a portion of the circumferential surface of the high idler gear is tapered. In yet another embodiment, the high idler gear may include a solid elastomer tire.

In yet another embodiment, the carrier track module includes at least one carrier wheel and leading and trailing idler wheels, wherein each of these wheels is a cylindrical shape with a tapered elastomer tire surrounding it Wheel. And, in other preferred embodiments, the improved carrier track module includes a leading and trailing idler gear and two load wheels, each of which is a tapered elastomer tire with a wrap around Of a cylindrical wheel. And in other highly preferred embodiments, the improved carrier track module includes a leading and trailing idler gear, two load wheels, and a high idler gear, each of which is provided with a loop A cylindrical wheel with a tapered elastomer tire on it.

Another aspect of the improved carrier track module that includes a frame type, where the module can be mounted on a rotatable axle of one of the carriers described herein. The carrier track module has a driving wheel rotatably mounted on the frame, leading and trailing idler wheels rotatably mounted on the frame, and at least one bearing wheel, The load-bearing wheel is disposed between the leading and trailing idler wheels, and is in contact with a continuous elastic track extending around the drive wheel, the idler wheels, and the at least one load-bearing wheel. In one embodiment, the at least one bearing wheel is a conical wheel.

In another preferred embodiment, a track assembly for a vehicle is disclosed. The assembly includes a frame for mounting the assembly relative to the carrier. The assembly further includes a plurality of wheels, the wheels contacting a continuous elastic track extending around the plurality of wheels, and at least one of the plurality of wheels includes a cone surrounding it A cylindrical wheel for shrinking elastomer tires. This track assembly can be part of a fully integrated tracked vehicle.

In one embodiment, the track assembly may include a central plane parallel to the plurality of wheels, and the tapered tire is thicker toward the central plane of the assembly. The tapered elastomer tire of the track assembly is a solid elastomer tire.

In another embodiment, more than one of the plurality of wheels in the track assembly may have a tapered elastomer tire surrounding it. In this embodiment, the track assembly may include a central plane parallel to the plurality of wheels, and the tapered tires may be thicker toward the central plane of the assembly. In yet another embodiment, a portion of the circumferential surface of the tapered tire is tapered. In this embodiment, more than one of the plurality of wheels may have a tapered elastomer tire surrounding it. In other embodiments, the track assembly may include a central plane parallel to the plurality of wheels, and the tapered tire may be thicker toward the central plane of the assembly.

10‧‧‧Crawler components

20‧‧‧Frame

22‧‧‧Drive wheels

24‧‧‧Elastic crawler

26‧‧‧Lead idler

28‧‧‧following idler gear

30‧‧‧Carrying wheel

32‧‧‧wheel

34‧‧‧conical elastomer tire

36‧‧‧External ground knot surface

38‧‧‧Inner wheel engagement surface

40‧‧‧wheel with meshing ribs

42‧‧‧Drive component

44‧‧‧The second bearing wheel

46‧‧‧High idle gear

48‧‧‧Module central plane

50‧‧‧Cylinder wheel

52‧‧‧Elastomer tire

52n‧‧‧non-conical part

52t‧‧‧conical part

54‧‧‧wheel axle

56‧‧‧Bearing components

62‧‧‧Conical elastomer tire

62n‧‧‧non-conical part

62t‧‧‧conical part

68‧‧‧Mold parting line

70‧‧‧cone angle

74‧‧‧Arched road

76‧‧‧Cylinder wheel

78‧‧‧non-contracted elastomer tire

80‧‧‧Crawler

90‧‧‧Non-cone shrink wheel

An exemplary improved carrier track module including at least one carrier wheel is a cylindrical wheel with a tapered elastomer tire surrounding it, which can be combined with the accompanying drawings by referring to the following The description made by the formula is understood, where similar reference symbols indicate similar elements in all different perspectives. These drawings do not need to be scaled, but are used to emphasize the principle used to illustrate the case disclosed in this case.

FIG. 1 is a perspective view of an exemplary carrier track assembly according to the invention.

FIG. 2 is a cross-sectional view of a front idler wheel of a preferred carrier track module, in which the elastomer tire is fully tapered.

3 is a perspective view of an exemplary carrier track module wheel showing an elastomer tire constriction defined by a mold parting line in the tire.

4 is a cross-section taken along section 4-4 of the exemplary carrier track module wheel of FIG. 3, showing the circumference of the elastomer tire defined by a mold parting line in the tire A tapered part of the surface.

Fig. 5 is a highly schematic diagram showing a road that is arched together and a non-cone reduction wheel of a crawler module on the road, where substantially the entire load of the crawler falls on the arched road and the crawler The lower left corner of the junction.

Conventional crawlers for vehicles are disclosed in U.S. Patent Nos. RE 36,284 (Kedell Gate), 5,829,848 (Kedell Gate), 6,536,854 (Kale et al.), 6,543,861 (Kale Et al.), 6,543,862 (Kale et al.), And 6,557,953 (Kale et al.), And their equivalents are incorporated in this case for reference. The invention in this case is a type of performance related to these patents Improvements in belt modules and components, including in forward drive systems, friction drive systems, sliding systems (where power is not transferred from the one of the wheels engaging the track to the track), and combined systems Applications.

Referring first to FIG. 1, an exemplary carrier track module 10 having a frame 20 is illustrated. The track module 10 refers to a track assembly 10 more broadly herein. One of the track modules can be used in a modular track carrier that can be removed and replaced. The track assembly can be a fully integrated track where the assembly is more rigidly attached to the track. The part of the vehicle.

As shown in FIG. 1, the track module 10 can be mounted on a rotatable axle (not shown) of an agricultural or structural (or other earth moving) carrier (not shown) , And has a driving wheel 22 rotatably mounted on the frame 20. Other types of vehicles, such as trucks, cars and the like, are considered to fall within the scope of the invention of the present case.

1 to 4 illustrate various embodiments of the improved track module 10. As shown in FIG. 1, the track module 10 may include a continuous elastic track 24 that extends around a plurality of aligned wheels, which may include, for example, drive wheels 22, leading and trailing The idler wheels 26, 28 and at least one bearing wheel 30, the bearing wheel 30 is a tapered wheel. The wheel 32 may be a cylindrical wheel including a tapered elastomer tire 34 surrounding it. The wheel 32 can be, for example, a metal wheel or made of any other suitable material. As is obvious, the elastic track 24 is in the form of a continuous loop. The driving wheel 22 may be mounted on a wheel axle of a carrier for rotating with the wheel axle so as to be able to drive the elastic crawler 22 and thus the carrier.

The track module is a type of track assembly. In all track assemblies with continuous elastic tracks, there are a plurality of wheels in contact with such tracks, and the track is wound around The wheels extend, and at least one of the wheels is a cylindrical wheel including a tapered elastomer tire. Although a track module can be used to replace an existing module on an existing modular type of track carrier, a track assembly can be part of a fully integrated track carrier. In both cases where the modules and the track assembly are integrated with the carrier, at least one of the plurality of wheels is as described herein including a tapered elastomer around it A cylindrical wheel for tires.

Referring also to FIG. 1, the elastic track 24 includes an outer ground engaging surface 36 and an inner wheel engaging surface 38 having wheel engaging ribs 40 protruding inwards. The inner surface 38 of the track 24 is spaced circumferentially. The drive wheel 22 is engaged with the inner surface 38 of the continuous elastic track 24 including ribs 40 thereon. FIG. 1 shows that the outer surface of the drive wheel 22 may include circumferentially spaced drive members 42 (such as gears, drives, or sprocket pins or the like), etc. from the outer surface. Protruding towards the ground. The engagement of the ribs 40 and the rib engagement surface of the drive wheel 22 tends to minimize the shearing force on the ribs 40 and the possible rotation and twisting of the ribs.

The elastic track 24 is disposed above the drive wheel 22 so that the ribs 40 protruding from the inner surface 38 of the track 24 are sleeved on the corresponding pair of drives protruding from the outer surface of the drive wheel 22 Member 42. The leading and trailing idlers 26, 28 are engaged with the track 24 and the ribs 40 protruding from the inner wheel engagement surface 38 of the track 24. The outer surfaces of the idlers 26, 28 are engaged with the inner surface 38 of the elastic track 24 including the ribs 40. At least one carrying wheel 30 is carried on the track 24. As shown in FIG. 1, in addition to the carrying wheel 30, the track module 10 may also include a second carrying wheel 44 and a high idler wheel 46. The high idler gear 46 must travel on obstacles and other surfaces on the vehicle Useful in irregular situations. The crawler module 10 including the high idler gear 46 has a high drive close angle, which enables the crawler module to climb over the largest obstacle, and can keep the tension of the circulating crawler 24 uniform, thereby extending The life of the crawler 24. If the tension of the crawler 24 is more uniform, this will translate into a more uniform load through the crawler 24, which means a lower loss on the idlers 26, 28. The high idler gear 46 is included in a track module, and ground surface debris is pulled under the track, keeping the module and machine on top, which further improves floating and minimizes surface damage. The improvement in this case in the carrier crawler module can of course be applied to a standardized crawler module, which does not include the high idler 46, but has a flat crawler coverage area.

Referring also to FIG. 1, in one embodiment, each of the idler gears 26, 28, the carrier wheels 30, 40, and the high idler gear 46 of the carrier track module 10 is a tapered Wheel. These tapered wheels can be made of metal, rubber or rubber-like materials, or any other suitable materials, and combinations thereof. Such wheels may include a cylindrical wheel 32 having a tapered elastomer tire 34. The cylindrical wheel 32 may be, for example, a metal wheel, or it may be made of any other suitable material. Alternatively, the improved carrier track module 10 may include idler wheels 26, 28 and load wheels 30, 40, wherein only the load wheels 30, 40 are tapered, including by having a上 的 Constricted elastomer tire 34. It is also possible that, in addition to one or more tapered load wheels, the leading and trailing idlers 26, 28 can also be tapered, including by having a tapered elasticity around them Body tire 34. Another possibility, as illustrated in FIG. 1, is that each of the one or more carrier wheels 30 and 40, the leading and trailing idler wheels 26, 28, and the high idler wheel 46 are tapered Shrinkage, including by shrinking the elastomer tire 34 with a cone around it. As can be seen from the previous description, the pluralities of the improved track module 10 Any number or all of the aligned wheels can be tapered, including by having a tapered elastomer tire 34 surrounding it.

In many track modules, the bearing wheels and idler wheels are paired with another approximate wheel on the same axis, and usually each pair of wheels is attached to the same axle. Only one side of the crawler module 10 is shown in FIG. 1, and each wheel (26, 28, 30, 44 and 46) shown is one of the other sides on the other side of the crawler module 10 Similar wheels are paired. In FIG. 1, each of these ten wheels is a tapered wheel as described above.

In a highly optimized embodiment, as seen in FIG. 2, the track module 10 includes a module central plane 48 parallel to the drive wheel 22 and at least one bearing wheel 30 is It is thicker towards the central plane 48 of the module. (The central plane 48 is a plane perpendicular to the plane of the drawing plane, and it intersects with the dotted line marked with the element symbol 48. More broadly, the central plane 48 is also called the component central plane 48). In these embodiments, the leading and trailing idler gears 26, 28 are also tapered, and the gears are thicker towards the central plane 48. In addition, the high idler gear 46 is also a tapered gear, and the gear is thicker toward the central plane 48. The tapered lateral slope or angle in the wheels of the carrier track module 10 can be adjusted as needed to optimize the distribution of the load of the carrier through the track and adapt to the carrier The type of road conditions encountered.

FIG. 2 shows an exemplary leading idler 26, which illustrates the cone shape described previously. It can be seen that the idler gear 26 has a cylindrical gear 50 with an elastic tire 52 tapered around it. The central plane 48 of the module is parallel to the driving wheel 22, and the elastomer tire 52 is thicker toward the central plane 48. The tapered idler gear 26 shown in FIG. 2 generally illustrates the wheels that can be included in the track module 10 An example of a cone-shaped type of any one. As also shown in FIG. 2, the idle gear 26 has a wheel axle 54 and a bearing assembly 56. In FIG. 2, a portion 52t of the elastomer tire 52 of the idle gear 26 is tapered, but it should be noted that the entire wheel system can be tapered. The boundary between the tapered portion 52t and a non-tapered portion 52n is indicated by a mold parting line 68 (two arrows at the top and bottom indicate the line). It should be understood that although the non-tapered portion 52n is not tapered, depending on how it is manufactured, it may not be a perfect cylindrical shape. For example, if it is molded, it will include a slight draft angle.

FIG. 3 is a generic example carrier track module wheel 58 having a cylindrical wheel 60 and a tapered elastomer tire 62 surrounding the cylindrical wheel 60. The tire 62 includes a tapered portion 62t and a non-tapered portion 62n. The tapered and non-tapered portions 62t and 62n are defined at a mold parting line 68 in the tire 62. As with the non-contracted portion 52n, it should be understood that although the non-contracted portion 62n is not constricted, it may not be a perfect cylindrical shape depending on how it is manufactured. For example, if it is molded, the non-tapered portion 62n may include a slight draft angle. As best shown in FIGS. 1 and 3, in these embodiments, each of the leading and trailing idlers 26, 28, the carrier wheels 30, 40, and the high idler 46 include Such a mold parting line 68 is a product of the molds used in the manufacturing process, and it may not be actually seen on the wheels. The tapered and non-tapered portions 62t and 62n can be defined in a wheel in any way, and the transition area from the non-tapered portion 62n to the tapered portion 62t does not need to be distinguished by this mold parting line. In FIG. 3, only about half of the wheels 62 are tapered. Although the tapered shape may not be complete, as noted, it is either slightly larger or smaller than half.

The degree of taper in any of these wheels can be adjusted to optimize Various types of road surface vehicles are used. The degree of taper between the non-tapered portion 62n and the taper portion 62t is illustrated at a taper angle 70 in FIG. 4. For example, on a vehicle traveling over a typical paved arched road, the cone shape may be about an angle of one and a half to an angle of about two and a half. 4 is a cross-sectional view of the wheel of FIG. 3 along section line 4-4. FIG. 4 shows the cylindrical wheel 60 and the tapered elastomer tire 62 surrounding the cylindrical wheel 60. In FIG. 4, it can be seen that the wheel 60 is tapered, that is, away from the center of the wheel 60 away from the central plane 48, which is narrower, and from about the center of the wheel 60 toward the center plane 48, which is wider.

Next, referring to FIG. 5, a high schematic diagram showing a road 74 with an arch and a track module non-conical reduction gear 90 is shown in the figure. The wheel 90 includes a cylindrical wheel 76 and a non-conical elastomer tire 78 that surrounds the cylindrical wheel 76 and engages the track 80. Here, it can be seen that substantially the entire load of the track falls on the intersection 82 of the arched road 74 and the lower leftmost corner of the track 80. In contrast, referring to FIG. 2, which illustrates the front idler gear 26 of the elastomer tire 52 with tapered, a junction 82 between the track 24 and the ground can also be seen. A non-conical tire on a road arched together increases the pressure between the outside of the tire and the road surface. An improved carrier track module includes at least one wheel of the type illustrated in FIGS. 1 to 4, the wheel having a cone shape, by distributing the load across the entire track located under the tire Over the width and on the ground below the track, to avoid this undesirable situation, thus preventing a track module from traveling on its outer edge. When the load of the wheel is distributed over a wider area toward the center of the track, the wear on the edges of the wheel and the track is reduced, and the service life of the wheel and the track is extended. In addition, by applying the type of tapered gears illustrated and shown here, the additional roller structure becomes outdated Eliminate the cost associated with it, including the costs associated with the manufacture, repair, and replacement of this undesirable structure.

However, those skilled in the relevant art will recognize that the disclosure of this case may be implemented without one or more of these specific details, or with other components, materials, and the like. In other cases, well-known structures, materials, or operations have not been shown or described in detail to avoid obscuring the views disclosed in this case.

References to "this embodiment", "this embodiment", "one embodiment", "one embodiment", "one preferred embodiment", "another preferred embodiment", "one "Exemplary embodiment", "example" or similar language means that a particular feature, structure, or characteristic described in relation to this embodiment is included in at least one embodiment. Therefore, the terms "in this embodiment", "in this embodiment", "in one embodiment", "in one embodiment", "in a preferred embodiment", "in another embodiment" The preferred language "," in an exemplary embodiment "," in the exemplary embodiment "," in an exemplary "," in the exemplary "and similar language appear throughout this specification, Possible but not necessarily all refer to the same embodiment.

In addition, the features, advantages, and characteristics disclosed in the present case may be combined in one or more embodiments in any suitable manner. Those skilled in the relevant art will recognize that this disclosure may be implemented without one or more of the specific features or advantages of a particular embodiment. In other cases, additional features and advantages that may not appear in all embodiments may be confirmed in some embodiments.

Although this disclosure has been described in conjunction with certain exemplary or specific embodiments, it should be understood that the disclosure is not limited to the disclosed embodiments, but on the contrary, it is intended to cover It is obvious that various modifications, substitutions and equivalent configurations. Ren Such changes, modifications, substitutions, equivalents and the like can be made without departing from the scope disclosed in this case.

Claims (29)

A carrier crawler module, which can be mounted on a rotatable wheel axle of a carrier, the crawler module has a frame, a driving wheel that is rotatably mounted on the frame The leading and trailing idler gears and at least one bearing wheel which are rotatably mounted on the frame are arranged between the leading and trailing idler gears and around the driving wheel , The idler wheels and the at least one bearing wheel extend a continuous elastic track contact, the at least one bearing wheel is a tapered wheel, characterized in that the at least one bearing wheel is tapered The diameter of the wheel is narrower toward one side than the other side, wherein the tapering of the at least one bearing wheel is about one and one-half from a line perpendicular to a central plane parallel to the driving wheel An angle of about two and one-half degrees is used to spread the load over the entire width of the elastic track under the wheel. According to the crawler module of claim 1 of the patent application scope, the bearing wheel is thicker in diameter toward the central plane. According to the track module of claim 1, the load-bearing wheel includes a cylindrical wheel and a tapered solid elastomer tire surrounding it. According to the crawler module of claim 1 of the patent application scope, a part of the width of the circumferential surface of the elastic tire carrying the wheel is tapered. According to the crawler module of item 1 of the patent application scope, it further includes two load wheels, each of which includes a cylindrical wheel and a tapered elastomer tire surrounding it. According to the crawler module of claim 5 of the patent application scope, each of the tires carrying the wheels is thicker in diameter toward the central plane. According to the crawler module of claim 6 of the patent application scope, each of the tapered elastomer tires carrying the wheels is a solid elastomer tire. According to the crawler module of claim 6 of the patent application scope, a part of the width of the circumferential surface of each of the elastic tires carrying the wheel is tapered. According to the track module of claim 1, the leading and trailing idler gears are each a cylindrical gear and a tapered elastomer tire surrounding it. According to the crawler module of patent application scope item 9, the tires of the leading and trailing idlers are thicker in diameter toward the central plane. According to the crawler module of claim 9 of the patent application, the tapered elastomer tires of the leading and trailing idlers are solid elastomer tires. According to the crawler module of claim 9 of the patent application scope, a part of the width of the circumferential surface of the elastomer tire of each of the leading and trailing idler gears is tapered. According to the crawler module of claim 9 of the patent application scope, it further includes a tapered high idler gear, which includes a cylindrical wheel and an elastomer tire surrounding it. According to the track module of patent application scope item 13, the tire of the high idler gear is a solid elastomer tire. According to the track module of claim 13 of the patent application range, the high idler gear is a cylindrical gear and a tapered elastomer tire surrounding it. According to the crawler module of claim 15 of the patent application scope, the tire of the high idler gear is thicker in diameter toward the central plane. According to the crawler module of claim 15 of the patent application range, a part of the width of the circumferential surface of the elastomer tire of the high idler gear is tapered. According to the crawler module of claim 15 of the patent application scope, the high idler tire is a solid elastomer tire. According to the crawler module of claim 1 of the patent application scope, it further includes a tapered high idler gear including a cylindrical wheel and a tapered elastomer tire surrounding it. According to the track module of patent application scope item 19, the high idler tire is a solid elastomer tire. A carrier track module with a frame, the module can be mounted on a rotatable wheel axle of a carrier, and has a driving wheel rotatably mounted on the frame The leading and trailing idler gears and at least one bearing wheel which are rotatably mounted on the frame are arranged between the leading and trailing idler gears and around the driving wheel A continuous elastic crawler contact extending between the idler gear and the at least one bearing wheel, characterized in that the at least one bearing wheel is tapered by having a cross section in a direction across the wheel The circumferential surface of the machine is tapered, and the tapering is from an angle of about one-half to about two-half degree from the horizontal direction, so as to distribute the load across the entire width of the track under the wheel on. A crawler assembly for a carrier, the crawler assembly includes a frame and a plurality of wheels, the frame is used for installation relative to the carrier, the wheels and one extending around the plurality of wheels Continuous elastic track contact, wherein at least one of the wheels is a cylindrical wheel including an elastomeric tire that is tapered by having a circumferential surface tapered in a cross section in a direction across the wheel , The cone shrinkage is at an angle of about one-half to about one-half degree from the horizontal direction, so as to spread the load over the entire width of the track under the wheel. According to the track assembly of claim 22, it further includes a central plane parallel to the plurality of wheels, and wherein the tapered tire is thicker in diameter toward the central plane. According to the track assembly of claim 22, the tapered elastomer tire is a solid elastomer tire. According to the track assembly of claim 22, more than one of the plurality of wheels includes a cylindrical wheel and a tapered elastomer tire surrounding it. According to the track assembly of claim 25, it further includes a central plane parallel to the plurality of wheels, and wherein each of the tapered tires is thicker in diameter toward the central plane. According to the track assembly of claim 22 of the patent application scope, a part of the width of the circumferential surface of the tapered tire is tapered. According to the track assembly of claim 27, more than one of the plurality of wheels includes a cylindrical wheel and a tapered elastomer tire surrounding it. According to the track assembly of claim 27, it further includes a central plane parallel to the plurality of wheels, and wherein each of the tapered tires is thicker in diameter toward the central plane.